JP4522917B2 - Transport control system for large structures - Google Patents

Description

  The present invention relates to a transportation control system for lifting and transporting large structures such as Goliath cranes and bridges with a plurality of hoist ship jibs, and more specifically, suspending and transporting a large structure with a plurality of hoist ship jibs. The present invention relates to a transport control system for a large structure that can be safely and accurately transported while reducing a load generated on the large structure.

  Some Goliath cranes (portrait cranes) installed in building docks of shipyards have a weight of 3000 tons, a height of 80 m, and a length of about 150 m. Various methods for installing such a large Goliath crane at a predetermined location have been proposed (see, for example, Patent Document 1). In order to facilitate transportation of such a large structure, a method of assembling and transporting each structural member or several structural members to such an extent that they do not become too large and finally assembling them at the installation site is well known.

  When relocating an existing Goliath crane by such a conventional method, it must be disassembled into component parts, etc., reduced in size, transported, and then assembled again at the relocation site. There was a problem that it was not efficient because of the cost required.

  There is a method of lifting and transporting with the jib of one hoisting ship as it is without disassembling, but in the case of huge transported goods, it cannot be transported with excessive weight. Moreover, since the aging etc. of the transported article hung the central part, the bending stress due to its own weight increases, so there is a problem that it cannot be transported due to insufficient strength.

When lifting and transporting with the hoists of multiple hoists, the positions of the suspension can be dispersed and these problems can be solved.However, if the relative position of the hoist is changed during transportation, Extra load such as bending stress and torsional stress is generated. Therefore, it is necessary to grasp the relative positions of the plurality of hoisting vessels used for transportation in real time, and keep the relative positions constant while transporting them to a predetermined place. there were.
JP 2001-226073 A

  It is an object of the present invention to transport a large structure that can be transported safely and accurately while reducing the load on the large structure when the large structure is lifted and transported by jibs of a plurality of hoisting vessels. To provide a control system.

  In order to achieve the above object, the transport control system for a large structure according to the present invention is a transport control system for a large structure used when a large structure such as a Goliath crane or a bridge is lifted and transported by jibs of a plurality of hoisting ships. A plurality of cargo GPS receivers installed on the large structure, a plurality of hoist ship GPS receivers installed on the plurality of hoist ships, an information processing device, and a display device. The information processing apparatus compares the position data input in advance with the position data received from the GPS receiver for transported goods and the GPS receiver for the hoist ship, and displays the result based on the comparison in real time. It is displayed on the apparatus.

  According to the transport control system for large structures used when the large structures such as Goliath cranes and bridges of the present invention are lifted and transported by jibs of a plurality of hoisting ships, a plurality of transported objects installed in the large structures are used. Because it has a GPS receiver and a plurality of hoist ship GPS receivers installed on each hoist ship, it can grasp the absolute position and relative position of the large structure being transported and the hoist ship in real time. Can do.

  Then, if position data indicating the transport route is input in advance into the information processing device, the position data input in advance is compared with the position data received from the GPS receiver for transporting goods and the GPS receiver for hoisting ships. The result based on the comparison is displayed on the display device in real time. If the hoist ship is moved so as to coincide with the position data input in advance according to this display, it can be transported safely and accurately along the transport route determined in advance.

  Further, when position data indicating an appropriate relative position of the hoist ship is input in advance to the information processing apparatus, the relative position data input in advance is compared with the received relative position data, and this comparison is performed. The result is displayed on the display device in real time. If the hoist ship is moved so that it matches the pre-input relative position data according to this display, the load such as bending stress and torsional stress generated in the large structure due to the relative position change of the hoist ship is reduced. It can be transported safely.

  Hereinafter, the conveyance control system for large structures of the present invention will be described based on the embodiments shown in the drawings.

  First, FIG. 2 to FIG. 4 illustrate a Goliath crane 1 transported using the transport control system for large structures of the present invention and hoist ships 2a and 2b used for transport, and FIG. 5 shows a transport path in plan view. . As shown in FIG. 5, the existing Goliath crane 1 is lifted by the jibs 3 and 3 of the two hoisting ships 2a and 2b, and is transported from the first building dock 15a to the second building dock 15b.

As shown in FIGS. 2 to 4, one hoist ship 2a is provided with two hoist ship GPS receivers 5a and 5b. One GPS receiver 5 a is disposed on the top of the jib 3, and the other GPS receiver 5 b is disposed on a backstay 3 a erected on the rear side of the jib 3.
A jib angle sensor 7b is installed in the jib 3, and a triaxial angle sensor 7a, a jib load meter 9, a display device 10, an alarm device 11, and an information processing device 8 are installed in the operator room 4.

The other hoist ship 2b is similar to the one hoist ship 2a except for the information processing device 8, and includes two hoist ship GPS receivers 5a and 5b, a jib angle sensor 7b, a three-axis angle sensor 7a, and a jib load meter. 9, a display device 10 and an alarm device 11 are installed. This hoist ship 2b is equipped with two jibs 3 and 3, but the number of jibs 3 in the hoist ships 2a and 2b is not particularly limited.
In addition, the information processing apparatus 8 can be installed in the other hoist ship 2b, or can be installed in an arbitrary place such as on land.

  The Goliath crane 1 to be lifted is lifted in an existing state in which the garter 1a, the trolley 1b, the rigid leg 1c, and the swinging leg 1d are integrated. Two garter GPS receivers 5e and 5f and a gyro acceleration measuring device 6 are installed in the garter 1a. These installation locations can be any location of the Goliath crane 1.

  Between both the hoist ships 2a and 2b, a base ship serving as a cushioning material 14 is interposed as required to suppress fluctuations in the distance between the hoist ships 2a and 2b.

  FIG. 1 illustrates an overall schematic diagram of a configuration of a transport control system for a large structure according to the present invention. As shown in FIG. 1, the hoist ship GPS receivers 5a to 5d and the cargo GPS receivers 5e and 5f send the position data to the information processing apparatus 8 installed in one hoist ship 2a via the artificial satellite 12. Send. Position data is also transmitted to the information processing apparatus 8 from a correction GPS receiver 5g installed in the base station 13 in order to grasp a more accurate position.

  The information processing device 8 receives these transmitted position data and processes the data, whereby the absolute position and the relative position of both the hoist ships 2a and 2b and the Goliath crane 1 can be grasped in real time.

  The information processing device 8 is inputted in advance with the first building dock 15a as the starting point, the second building dock as the ending point, and position data (conveying position data) indicating the determined conveying path. Further, position data (relative position data) indicating an appropriate relative position during transportation of the two hoist ships 2a and 2b is input.

  During transportation, the position data received by the information processing device 8 is compared with the transport position data inputted in advance, and the comparison difference is displayed in real time on the display devices 10 and 10 of the two hoist ships 2a and 2b. Is done. Therefore, if the position correction is performed by changing the speed and moving direction of the two hoist ships 2a and 2b so as to reduce the displayed comparison difference, it is guided along a predetermined transportation route, and can be easily performed safely and accurately. Can be transported.

  Further, the information processing device 8 compares the received relative position data based on the received position data of the two hoist ships 2a and 2b with the appropriate relative position data input in advance. The comparison difference is displayed in real time on the display devices 10 and 10 of the two hoist ships 2a and 2b. Accordingly, if the position is corrected by changing the direction and speed of the two hoist ships 2a and 2b so as to reduce the displayed comparison difference, the relative positions of the two hoist ships 2a and 2b can be made appropriate. As a result, loads such as bending stress and torsional stress generated in the suspended Goliath crane 1 can be reduced and transported safely.

  For the comparison difference between the received position data and the transport position data input in advance and the comparison difference between the received relative position data and the appropriate relative position data input in advance, an allowable range is determined in advance. Input data that falls within the allowable range. As a result, the information processing device 8 determines whether or not the comparison difference is within the allowable range, and the determination result can be displayed on the display devices 10 and 10 of the two hoist ships 2a and 2b. When it becomes out of the permissible range, safer transportation is possible by operating the alarm devices 11 and 11 of the two hoist ships 2a and 2b. It is not limited to the alarm device 11 to operate when it is out of the allowable range, and for example, some external transmission device such as a warning light can be used. Further, a warning may be displayed on the display device 10.

  In addition, by grasping in real time the absolute position and relative position of both hoist ships 2a and 2b and Goliath crane 1, the lifting height and inclination of Goliath crane 1 and the outreach and lift of both hoist ships 2a and 2b can be grasped. Can improve safety.

  The triaxial angle data detected by the triaxial angle sensors 7a, 7a of the two hoist ships 2a, 2b is transmitted to the information processing device 8, and the data processing of the information processing device 8 that has received the triaxial angle data causes the double hoist The hull inclination situation of the ships 2a and 2b can be grasped in real time. As a result, it is possible to grasp the amount of change in the outreach lift caused by the hull attitudes and inclinations of the two hoist ships 2a and 2b.

  The jib angle data and jib load data detected by the respective jib angle sensors 7 b and 7 b and the jib load meters 9 and 9 are transmitted to the information processing device 8. The data processing of the information processing apparatus 8 that has received both pieces of data makes it possible to grasp the load status of the respective jibs 3 and 3 in real time, thereby ensuring safety.

  If the limit jib angle or limit jib load is input to the information processing device 8 in advance, the input data is compared with the data received by the information processing device 8, and a result based on this comparison, for example, The ratio of the limit jib angle and the limit load to the jib angle and the jib load is displayed in real time on the display devices 10 and 10 of the hoists 2a and 2b. Thereby, it can be safely transported while monitoring the load status of the jib 3.

  The acceleration data detected by the gyro acceleration measuring device 6 installed in the garter 1 a of the Goliath crane 1 is transmitted to the information processing device 8. The rocking state of the Goliath crane 1 can be grasped in real time by the data processing of the information processing device 8 that has received the acceleration data.

  The external force acting on the Goliath crane 1 suspended by swinging is calculated in advance, and acceleration data that becomes the swing limit and the tilt limit is input to the information processing device 8 in advance. As a result, the acceleration data received from the gyro acceleration measuring device 6 is compared with the acceleration data input in advance, and as a result of this comparison, for example, the ratio of swing or tilt to the swing limit or tilt limit is obtained. Are displayed in real time on the display devices 10 and 10 of the two hoist ships 2a and 2b.

  By changing the speed, moving direction, and the like of the hoist ships 2a and 2b so as to reduce the ratio of the swing and tilt, the swing and tilt can be suppressed and transported safely.

  For the above-described three-axis angle data, jib angle data, jib load data, and acceleration data, an allowable range is determined in advance for the comparison difference between the received data and the previously input data. Enter the data to become. Thereby, the information processing device 8 determines whether or not the comparison difference is within the allowable range, and the determination result can be displayed on the display devices 10 and 10 of the hoists 2a and 2b. If it becomes, safer transportation becomes possible by operating the alarm devices 11 and 11 of the two hoist ships 2a and 2b.

  FIG. 6 shows another example of the transport control system of the present invention with a part of the configuration omitted. The difference from the transport control system of FIG. 1 is that a correction control instruction is transmitted from the information processing device 8 to the working unit D that controls the speed and moving direction of the two hoist ships 2a and 2b.

  That is, the operator sees the result based on the comparison of the respective data on the display device 10 and corrects the comparison difference to be small, and does not operate the hoist ships 2a, 2b and the jib 3, but the information processing device. 8 can automatically perform correction control.

  As a result, the burden on the operator is further reduced, and stable transportation without variations caused by the skill of the operator is possible.

  All the received data shown in the embodiment is stored in the information processing apparatus 8 and can be used as various analysis data such as being output separately in time series.

  In the above embodiment, the transported object is the Goliath crane 1. However, the present invention is not limited to this, and it is difficult to transport with one hoist ship and transports a large structure that needs to be transported with a plurality of hoist ship. It can be applied to For example, it can be used for transporting a bridge having a length of about 100 to 300 m and a weight of about 2000 to 5000 tons. Also, when it is lifted by one hoisting ship due to aging, etc., it is suitable for large structures with insufficient strength that cannot withstand bending stress due to its own weight.

  The number of hoist vessels used is not limited to that shown in the embodiment, and may be three or more depending on the size, weight, etc. of the large structure to be transported.

It is a whole schematic diagram which illustrates the composition of the conveyance control system of the large-sized structure of the present invention. It is a front view which illustrates the Goliath crane conveyed using the conveyance control system of the large sized structure of this invention, and the hoist ship used for conveyance. FIG. 3 is a view taken in the direction of arrow A in FIG. 2. FIG. It is a top view which illustrates the conveyance path | route of the Goliath crane conveyed using the conveyance control system of the large sized structure of this invention. It is a partially-omitted whole schematic diagram which shows the other example of a structure of the conveyance control system of the large sized structure of this invention.

Explanation of symbols

1 Goliath crane (large structure)
DESCRIPTION OF SYMBOLS 1a Garter 1b Trolley 1c Rigid leg 1d Rocking leg 2a, 2b Hoist ship 3 Jib 3a Backstay 4 Operator room 5a-5d GPS receiver for hoist ship 5e-5f GPS receiver for goods 5g GPS receiver for base station 6 Gyro acceleration Measuring device 7a 3-axis angle sensor 7b Jib angle sensor 8 Information processing device 9 Jib load meter 10 Display device 11 Alarm device (abnormal transmission device)
12 Artificial Satellite 13 Base Station 14 Cushioning Material (Boat)
15a First construction dock 15b Second construction dock

Claims (5)

  A large structure transportation control system used when a large structure such as a Goliath crane or a bridge is lifted and transported by jibs of a plurality of hoisting ships, and GPS reception for a plurality of transportation objects installed in the large structure is performed. And a plurality of hoist ship GPS receivers installed on each of the plurality of hoist ships, an information processing device, and a display device, wherein the information processing device includes pre-input position data, A large structure transport control system that compares position data received from a GPS receiver for a ship and the GPS receiver for a hoist ship and displays a result based on the comparison on the display device in real time.   A gyro accelerometer is installed in the large structure, and the information processing apparatus compares acceleration data input in advance with acceleration data received from the gyro accelerometer, and displays the result based on the comparison in real time. The conveyance control system of the large structure of Claim 1 displayed on an apparatus.   A jib load meter and a jib angle meter are installed in each of the plurality of hoist vessels, and the information processing apparatus receives the pre-input jib load data and jib angle data, and the jib load meter and the jib angle meter. The transport control system for a large structure according to claim 1 or 2, wherein jib load data and jib angle data are compared, and a result based on the comparison is displayed on the display device in real time.   4. The information processing apparatus according to claim 1, wherein the information processing apparatus determines whether a comparison difference of the compared data is within a previously input allowable range, and displays the determination result on the display apparatus. Transport control system for large structures.   5. The large structure according to claim 1, wherein the information processing device corrects and controls the positions of the plurality of hoisting vessels so as to reduce the comparison difference based on the comparison difference of the compared data. Transport control system.

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